Add optional serial print

RemoteIDModule/DroneCAN.cpp

@@ -4,6 +4,7 @@
  */
 #include <Arduino.h>
 #include "board_config.h"
+#include "log.hpp"
 #include "version.h"
 #include <time.h>
 #include "DroneCAN.h"
@@ -153,28 +154,28 @@ void DroneCAN::onTransferReceived(CanardInstance* ins,
         handle_get_node_info(ins, transfer);
         break;
     case UAVCAN_PROTOCOL_RESTARTNODE_ID:
-        Serial.printf("DroneCAN: restartNode\n");
+        serial_log("DroneCAN: restartNode\n");
         delay(20);
         esp_restart();
         break;
     case DRONECAN_REMOTEID_BASICID_ID:
-        Serial.printf("DroneCAN: got BasicID\n");
+        serial_log("DroneCAN: got BasicID\n");
         handle_BasicID(transfer);
         break;
     case DRONECAN_REMOTEID_LOCATION_ID:
-        Serial.printf("DroneCAN: got Location\n");
+        serial_log("DroneCAN: got Location\n");
         handle_Location(transfer);
         break;
     case DRONECAN_REMOTEID_SELFID_ID:
-        Serial.printf("DroneCAN: got SelfID\n");
+        serial_log("DroneCAN: got SelfID\n");
         handle_SelfID(transfer);
         break;
     case DRONECAN_REMOTEID_SYSTEM_ID:
-        Serial.printf("DroneCAN: got System\n");
+        serial_log("DroneCAN: got System\n");
         handle_System(transfer);
         break;
     case DRONECAN_REMOTEID_OPERATORID_ID:
-        Serial.printf("DroneCAN: got OperatorID\n");
+        serial_log("DroneCAN: got OperatorID\n");
         handle_OperatorID(transfer);
         break;
     case UAVCAN_PROTOCOL_PARAM_GETSET_ID:

RemoteIDModule/log.hpp

@@ -0,0 +1,9 @@
+#pragma once 
+
+#include <Arduino.h>
+#include <parameters.h>
+
+#define serial_log(format, args...) \
+                if (g.options & OPTIONS_PRINT_RID_DEBUG) { \
+                    Serial.printf(format, ## args); \
+                }

RemoteIDModule/mavlink.cpp

@@ -2,6 +2,7 @@
   mavlink class for handling OpenDroneID messages
  */
 #include <Arduino.h>
+#include "log.hpp"
 #include "mavlink.h"
 #include "board_config.h"
 #include "version.h"
@@ -144,9 +145,7 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_LOCATION: {
         mavlink_msg_open_drone_id_location_decode(&msg, &location);
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got Location\n");
-        }
+        serial_log("MAVLink: got Location\n");
         if (last_location_timestamp != location.timestamp) {
             //only update the timestamp if we receive information with a different timestamp
             last_location_ms = millis();
@@ -157,9 +156,7 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_BASIC_ID: {
         mavlink_open_drone_id_basic_id_t basic_id_tmp;
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got BasicID\n");
-        }
+        serial_log("MAVLink: got BasicID\n");
         mavlink_msg_open_drone_id_basic_id_decode(&msg, &basic_id_tmp);
         if ((strlen((const char*) basic_id_tmp.uas_id) > 0) && (basic_id_tmp.id_type > 0) && (basic_id_tmp.id_type <= MAV_ODID_ID_TYPE_SPECIFIC_SESSION_ID)) {
             //only update if we receive valid data
@@ -170,24 +167,18 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_AUTHENTICATION: {
         mavlink_msg_open_drone_id_authentication_decode(&msg, &authentication);
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got Auth\n");
-        }
+        serial_log("MAVLink: got Auth\n");
         break;
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_SELF_ID: {
         mavlink_msg_open_drone_id_self_id_decode(&msg, &self_id);
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got SelfID\n");
-        }
+        serial_log("MAVLink: got SelfID\n");
         last_self_id_ms = now_ms;
         break;
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM: {
         mavlink_msg_open_drone_id_system_decode(&msg, &system);
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got System\n");
-        }
+        serial_log("MAVLink: got System\n");
         if ((last_system_timestamp != system.timestamp) || (system.timestamp == 0)) {
             //only update the timestamp if we receive information with a different timestamp
             last_system_ms = millis();
@@ -196,9 +187,7 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
         break;
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_SYSTEM_UPDATE: {
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got System update\n");
-        }
+        serial_log("MAVLink: got System update\n");
         mavlink_open_drone_id_system_update_t pkt_system_update;
         mavlink_msg_open_drone_id_system_update_decode(&msg, &pkt_system_update);
         system.operator_latitude = pkt_system_update.operator_latitude;
@@ -219,9 +208,7 @@ void MAVLinkSerial::process_packet(mavlink_status_t &status, mavlink_message_t &
     }
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_OPERATOR_ID: {
         mavlink_msg_open_drone_id_operator_id_decode(&msg, &operator_id);
-        if (g.options & OPTIONS_PRINT_RID_MAVLINK) {
-            Serial.printf("MAVLink: got OperatorID\n");
-        }
+        serial_log("MAVLink: got OperatorID\n");
         last_operator_id_ms = now_ms;
         break;
     }

RemoteIDModule/parameters.h

@@ -109,6 +109,6 @@ class Parameters {
 // bits for OPTIONS parameter
 #define OPTIONS_FORCE_ARM_OK (1U<<0)
 #define OPTIONS_DONT_SAVE_BASIC_ID_TO_PARAMETERS (1U<<1)
-#define OPTIONS_PRINT_RID_MAVLINK (1U<<2)
+#define OPTIONS_PRINT_RID_DEBUG (1U<<2)
 
 extern Parameters g;